import rosbag
from colorama import Fore, Style
import os
import sys
import warnings
import def_function
from datetime import datetime

# 获取当前脚本的完整路径
script_path = os.path.abspath(sys.argv[0])
# 从完整路径中获取目录
script_dir = os.path.dirname(script_path)
# 从完整路径中分离出文件名
script_name = os.path.basename(script_path)
# 使用 splitext() 函数分离文件名和扩展名
script_name_without_extension, extension = os.path.splitext(script_name)

print(Fore.YELLOW+f"python script name:", sys.argv[0])
if os.getenv('DEBUG') == 'true':
    python_param = '/mnt/01_code/python/rosbag_analysis/dataspace/ROCKY/PL077159_recording_dfdi_console_manual_recording_20230904-104320_20230904-104346_0_filter.bag'
else:
    if len(sys.argv)!=2:
        print(Fore.RED+f"you need python params!")
        sys.exit()
    python_param = script_dir + "/" + sys.argv[1]
    if os.path.isabs(sys.argv[1]):
        python_param = sys.argv[1]
rosbag_data = rosbag.Bag(python_param)

# 获取类型和主题信息
# rosbag_info = rosbag_data.get_type_and_topic_info()
# info.topics 是一个字典，它的键是 topic 的名字
# all_topics = list(rosbag_info.topics.keys())
topics = ['/msd/function_module_status']

status = 0
status_last = 0
quit_message = ""
arry_error_info = list()
dict_error_info = dict()
for msg_topic, msg, t in rosbag_data.read_messages(topics=topics):
    if msg_topic == '/msd/function_module_status':
        quit_message = standstill = msg.message
        status = msg.status

    error_type = "/msd/function_module_status退自动详细原因"
    judge_condition = "status上次在自动当前不在自动"
    
    result = (2 == status_last and 0 == status)
    message = "[" + error_type + "{" + judge_condition + "}]" + quit_message
    def_function.class_data.update_error_info(t.to_sec(), result, message, dict_error_info, error_type, arry_error_info)

    status_last = status
################################################################################################
rosbag_data.close()
list_print = list()
for value in dict_error_info.values():
    if (0 != value.start_time and 0 == value.end_time):
        list_print.append("[" + str(value.start_time) + "-" + "bag_end]" + value.message)
for item in arry_error_info:
    list_print.append("[" + str(item.start_time) + "-" + str(item.end_time) + "@diff:" + "{:.3f}".format(item.end_time - item.start_time) + "]" + item.message)
if list_print:
    print(Fore.RED+f"", script_name_without_extension)
for item in list_print:
    print(Fore.CYAN+f"", item)